Research On Vehicle Coordinated Control For Robot Driver Based On Driver's Driving Behavior

Unmanned driving robot(UDR)is a new solution for autonomous vehicles.It is an intelligent robot,which can achieve autonomous driving instead of a human driver,without any vehicle modification.And it can be used in the application area of military,police and civilian,including battlefield transportation,disaster relief and vehicle test.The research on coordinated control mechanism of unmanned driving robot vehicle(UDRV)based on driver's driving behavior is conducted,based on the research on structural characteristics and speed control of UDR of research group.Firstly,the performance requirements of UDR are introduced.The structure of UDR are studied,and the structural characteristics and driving modes of steering mechanical arm,driving mechanical legs and shifting mechanical arm are analyzed.Then,a UDR model is established.Basis of this,a UDRV model is established.Secondly,the different driving characteristics between machine driving and manual driving are compared and analyzed,during vehicle speed and steering control.The advantages of machine driving and the driving characteristics of manual driving for machine driving are studied.Basis of this,a driver steering behavior model is established,considering adaptive preview characteristics,virtual path planning strategy and desired yaw rate tracking.And a driver speed control behavior model is established,considering throttle and brake switching control strategy and control adjustment strategy under different road curvature.Finally,a hierarchical coordinated control method of longitudinal and lateral control for UDRV is proposed,including a feedback control layer,a compensation control layer and a coordinated control layer.The feedback control layer achieves the accurately and stably control of throttle,brake and steering.In the compensation control layer,a nonlinear disturbance observer(NDO)is used to observe and compensate the model uncertainties and external disturbances in real time,in the process of throttle,brake and steering control respectively.The coordinated control layer achieves the coordinated control of throttle,brake and steering,based on the feedback control layer and compensation control layer.The effectiveness of proposed method is verified by simulations and experiments.